#ifndef _ALIGNACTION_
#define _ALIGNACTION_

#include "Aria.h"
#include "math.h"
#include "../vision/VisionController.h"
#define M 750.0f
#define S 750.0f

using namespace vctrl;

class AlignAction : public ArAction{

public:
	AlignAction(double ballDegree,VisionController *visione);
	~AlignAction();

private:
	ArActionDesired* fire(ArActionDesired currentDesired);

	double degree;
	bool aligned;
	ArActionDesired myDesired;
	VisionController *visione;
	double elaborateBeta(float d, float profPalla);
	double elaborateDistance(float profPorta, float profPalla);
};

#endif
